/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
/*
  control code for tailsitters. Enabled by setting Q_FRAME_CLASS=10 
  or by setting Q_TAILSIT_MOTMX nonzero and Q_FRAME_CLASS and Q_FRAME_TYPE
  to a configuration supported by AP_MotorsMatrix
 */

#include <math.h>
#include "Plane.h"

/*
  return true when flying a tailsitter
 */
bool QuadPlane::is_tailsitter(void) const
{
    return available()
        && ((frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER) || (tailsitter.motor_mask != 0))
        && (tilt.tilt_type != TILT_TYPE_BICOPTER);
}

/*
  return true when flying a control surface only tailsitter tailsitter
 */
bool QuadPlane::is_contol_surface_tailsitter(void) const
{
    return frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER
           && ( is_zero(tailsitter.vectored_hover_gain) || !SRV_Channels::function_assigned(SRV_Channel::k_tiltMotorLeft));
}

/*
  check if we are flying as a tailsitter
 */
bool QuadPlane::tailsitter_active(void)
{
    if (!is_tailsitter()) {
        return false;
    }
    if (in_vtol_mode()) {
        return true;
    }
    // check if we are in ANGLE_WAIT fixed wing transition
    if (transition_state == TRANSITION_ANGLE_WAIT_FW) {
        return true;
    }
    return false;
}

/*
  run output for tailsitters
 */
void QuadPlane::tailsitter_output(void)
{
    if (!is_tailsitter() || motor_test.running) {
        // if motor test is running we don't want to overwrite it with output_motor_mask or motors_output
        return;
    }

    float tilt_left = 0.0f;
    float tilt_right = 0.0f;



    // handle forward flight modes and transition to VTOL modes
    if (!tailsitter_active() || in_tailsitter_vtol_transition()) {
        // get FW controller throttle demand and mask of motors enabled during forward flight
        float throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
        if (hal.util->get_soft_armed() && in_tailsitter_vtol_transition() && !throttle_wait && is_flying()) {
            /*
              during transitions to vtol mode set the throttle to
              hover thrust, center the rudder and set the altitude controller
              integrator to the same throttle level
            */
            throttle = motors->get_throttle_hover() * 100;
            SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0);
            pos_control->get_accel_z_pid().set_integrator(throttle*10);

            // override AP_MotorsTailsitter throttles during back transition
            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
            SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle);
            SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle);
        }

        if (!assisted_flight) {
            // set AP_MotorsMatrix throttles for forward flight
            motors->output_motor_mask(throttle * 0.01f, tailsitter.motor_mask, plane.rudder_dt);

            // in forward flight: set motor tilt servos and throttles using FW controller
            if (tailsitter.vectored_forward_gain > 0) {
                // thrust vectoring in fixed wing flight
                float aileron = SRV_Channels::get_output_scaled(SRV_Channel::k_aileron);
                float elevator = SRV_Channels::get_output_scaled(SRV_Channel::k_elevator);
                tilt_left  = (elevator + aileron) * tailsitter.vectored_forward_gain;
                tilt_right = (elevator - aileron) * tailsitter.vectored_forward_gain;
            }
            SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left);
            SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right);
            return;
        }
    }

    // handle Copter controller
    // the MultiCopter rate controller has already been run in an earlier call
    // to motors_output() from quadplane.update(), unless we are in assisted flight
    if (assisted_flight && tailsitter_transition_fw_complete()) {
        hold_stabilize(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * 0.01f);
        motors_output(true);

        if ((options & OPTION_TAILSIT_Q_ASSIST_MOTORS_ONLY) != 0) {
            // only use motors for Q assist, control surfaces remain under plane control
            // zero copter I terms and use plane
            attitude_control->reset_rate_controller_I_terms();

            // output tilt motors
            if (tailsitter.vectored_hover_gain > 0) {
                SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, SRV_Channels::get_output_scaled(SRV_Channel::k_tiltMotorLeft) * tailsitter.vectored_hover_gain);
                SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, SRV_Channels::get_output_scaled(SRV_Channel::k_tiltMotorRight) * tailsitter.vectored_hover_gain);
            }

            // skip remainder of the function that overwrites plane control surface outputs with copter
            return;
        }
    } else {
        motors_output(false);
    }

    // In full Q assist it is better to use cotper I and zero plane
    plane.pitchController.reset_I();
    plane.rollController.reset_I();

    // pull in copter control outputs
    SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, (motors->get_yaw())*-SERVO_MAX);
    SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, (motors->get_pitch())*SERVO_MAX);
    SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, (motors->get_roll())*SERVO_MAX);
    SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, (motors->get_throttle()) * 100);

    if (hal.util->get_soft_armed()) {
        // scale surfaces for throttle
        tailsitter_speed_scaling();
    }

    if (tailsitter.vectored_hover_gain > 0) {
        // thrust vectoring VTOL modes
        tilt_left = SRV_Channels::get_output_scaled(SRV_Channel::k_tiltMotorLeft);
        tilt_right = SRV_Channels::get_output_scaled(SRV_Channel::k_tiltMotorRight);
        /*
          apply extra elevator when at high pitch errors, using a
          power law. This allows the motors to point straight up for
          takeoff without integrator windup
         */
        float des_pitch_cd = attitude_control->get_att_target_euler_cd().y;
        int32_t pitch_error_cd = (des_pitch_cd - ahrs_view->pitch_sensor) * 0.5;
        float extra_pitch = constrain_float(pitch_error_cd, -SERVO_MAX, SERVO_MAX) / SERVO_MAX;
        float extra_sign = extra_pitch > 0?1:-1;
        float extra_elevator = 0;
        if (!is_zero(extra_pitch) && in_vtol_mode()) {
            extra_elevator = extra_sign * powf(fabsf(extra_pitch), tailsitter.vectored_hover_power) * SERVO_MAX;
        }
        tilt_left  = extra_elevator + tilt_left * tailsitter.vectored_hover_gain;
        tilt_right = extra_elevator + tilt_right * tailsitter.vectored_hover_gain;
        if (fabsf(tilt_left) >= SERVO_MAX || fabsf(tilt_right) >= SERVO_MAX) {
            // prevent integrator windup
            motors->limit.roll = 1;
            motors->limit.pitch = 1;
            motors->limit.yaw = 1;
        }
        SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left);
        SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right);
    }


    if (tailsitter.input_mask_chan > 0 &&
        tailsitter.input_mask > 0 &&
        RC_Channels::get_radio_in(tailsitter.input_mask_chan-1) > 1700) {
        // the user is learning to prop-hang
        if (tailsitter.input_mask & TAILSITTER_MASK_AILERON) {
            SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.channel_roll->get_control_in_zero_dz());
        }
        if (tailsitter.input_mask & TAILSITTER_MASK_ELEVATOR) {
            SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.channel_pitch->get_control_in_zero_dz());
        }
        if (tailsitter.input_mask & TAILSITTER_MASK_THROTTLE) {
            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.get_throttle_input(true));
        }
        if (tailsitter.input_mask & TAILSITTER_MASK_RUDDER) {
            SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, plane.channel_rudder->get_control_in_zero_dz());
        }
    }
}


/*
  return true when we have completed enough of a transition to switch to fixed wing control
 */
bool QuadPlane::tailsitter_transition_fw_complete(void)
{
    if (plane.fly_inverted()) {
        // transition immediately
        return true;
    }
    int32_t roll_cd = labs(ahrs_view->roll_sensor);
    if (roll_cd > 9000) {
        roll_cd = 18000 - roll_cd;
    }
    if (labs(ahrs_view->pitch_sensor) > tailsitter.transition_angle*100 ||
        roll_cd > tailsitter.transition_angle*100 ||
        AP_HAL::millis() - transition_start_ms > uint32_t(transition_time_ms)) {
        return true;
    }
    // still waiting
    return false;
}


/*
  return true when we have completed enough of a transition to switch to VTOL control
 */
bool QuadPlane::tailsitter_transition_vtol_complete(void) const
{
    if (plane.fly_inverted()) {
        // transition immediately
        return true;
    }
    if (labs(plane.ahrs.pitch_sensor) > tailsitter.transition_angle*100 ||
        labs(plane.ahrs.roll_sensor) > tailsitter.transition_angle*100 ||
        AP_HAL::millis() - transition_start_ms > 2000) {
        return true;
    }
    // still waiting
    attitude_control->reset_rate_controller_I_terms();
    return false;
}

// handle different tailsitter input types
void QuadPlane::tailsitter_check_input(void)
{
    if (tailsitter_active() &&
        (tailsitter.input_type & TAILSITTER_INPUT_PLANE)) {
        // the user has asked for body frame controls when tailsitter
        // is active. We switch around the control_in value for the
        // channels to do this, as that ensures the value is
        // consistent throughout the code
        int16_t roll_in = plane.channel_roll->get_control_in();
        int16_t yaw_in = plane.channel_rudder->get_control_in();
        plane.channel_roll->set_control_in(yaw_in);
        plane.channel_rudder->set_control_in(-roll_in);
    }
}

/*
  return true if we are a tailsitter transitioning to VTOL flight
 */
bool QuadPlane::in_tailsitter_vtol_transition(void) const
{
    return is_tailsitter() && in_vtol_mode() && transition_state == TRANSITION_ANGLE_WAIT_VTOL;
}

/*
  account for speed scaling of control surfaces in VTOL modes
*/
void QuadPlane::tailsitter_speed_scaling(void)
{
    const float hover_throttle = motors->get_throttle_hover();
    const float throttle = motors->get_throttle();
    float spd_scaler = 1.0f;

    if (tailsitter.gain_scaling_mask & TAILSITTER_GSCL_ATT_THR) {
        // reduce gains when flying at high speed in Q modes:

        // critical parameter: violent oscillations if too high
        // sudden loss of attitude control if too low
        const float min_scale = tailsitter.gain_scaling_min;
        float tthr = 1.25f * hover_throttle;

        // reduce control surface throws at large tilt
        // angles (assuming high airspeed)
        // ramp down from 1 to max_atten at tilt angles over trans_angle
        // (angles here are represented by their cosines)

        // Note that the cosf call will be necessary if trans_angle becomes a parameter
        // but the C language spec does not guarantee that trig functions can be used
        // in constant expressions, even though gcc currently allows it.
        constexpr float c_trans_angle = 0.9238795; // cosf(.125f * M_PI)

        // alpha = (1 - max_atten) / (c_trans_angle - cosf(radians(90)));
        const float alpha = (1 - min_scale) / c_trans_angle;
        const float beta = 1 - alpha * c_trans_angle;

        const float c_tilt = ahrs_view->get_rotation_body_to_ned().c.z;
        if (c_tilt < c_trans_angle) {
            spd_scaler = constrain_float(beta + alpha * c_tilt, min_scale, 1.0f);
            // reduce throttle attenuation threshold too
            tthr = 0.5f * hover_throttle;
        }
        // if throttle is above hover thrust, apply additional attenuation
        if (throttle > tthr) {
            const float throttle_atten = 1 - (throttle - tthr) / (1 - tthr);
            spd_scaler *= throttle_atten;
            spd_scaler = constrain_float(spd_scaler, min_scale, 1.0f);
        }

        // limit positive and negative slew rates of applied speed scaling
        constexpr float posTC = 2.0f;   // seconds
        constexpr float negTC = 1.0f;   // seconds
        const float posdelta = plane.G_Dt / posTC;
        const float negdelta = plane.G_Dt / negTC;
        spd_scaler = constrain_float(spd_scaler, last_spd_scaler - negdelta, last_spd_scaler + posdelta);
        last_spd_scaler = spd_scaler;
    }

    // if gain attenuation isn't active and boost is enabled
    if ((spd_scaler >= 1.0f) && (tailsitter.gain_scaling_mask & TAILSITTER_GSCL_BOOST)) {
        // boost gains at low throttle
        if (is_zero(throttle)) {
            spd_scaler = tailsitter.throttle_scale_max;
        } else {
            spd_scaler = constrain_float(hover_throttle / throttle, 1.0f, tailsitter.throttle_scale_max);
        }
    }

    const SRV_Channel::Aux_servo_function_t functions[] = {
        SRV_Channel::Aux_servo_function_t::k_aileron,
        SRV_Channel::Aux_servo_function_t::k_elevator,
        SRV_Channel::Aux_servo_function_t::k_rudder};
    for (uint8_t i=0; i<ARRAY_SIZE(functions); i++) {
        int32_t v = SRV_Channels::get_output_scaled(functions[i]);
        v *= spd_scaler;
        v = constrain_int32(v, -SERVO_MAX, SERVO_MAX);
        SRV_Channels::set_output_scaled(functions[i], v);
    }
}
